Over the past several decades there has been significant progress in clinical implementation of braincomputer interfaces (BCI) and transcutaneous spinal cord electrical stimulation (tSCS). Here we present a novel method employing those technologies for rehabilitation of lower-limb motor impairments. We developed a virtual environment with a BCI system and a unique assistive robot based on a KUKA manipulator. Combined with tSCS, our approach holds promise to deliver efficient rehabilitation.